com.explodingbacon.bcnlib.sensors

Class ADXSensor

java.lang.Object

com.explodingbacon.bcnlib.sensors.ADXSensor

All Implemented Interfaces:

PIDSource

public class ADXSensor
extends java.lang.Object
implements PIDSource

A class that merges the ADXL362 accelerometer with the ADXRS450 gyro, since they are both contained on one board.

Constructor Summary

Constructors

Constructor and Description
ADXSensor(edu.wpi.first.wpilibj.ADXL362 a, edu.wpi.first.wpilibj.ADXRS450_Gyro g) Creates an ADXSensor that uses existing instances of the Accelerometer and Gyroscope.
ADXSensor(edu.wpi.first.wpilibj.SPI.Port aPort, edu.wpi.first.wpilibj.SPI.Port gPort) Creates an ADXSensor on port.
ADXSensor(edu.wpi.first.wpilibj.SPI.Port aPort, edu.wpi.first.wpilibj.SPI.Port gPort, edu.wpi.first.wpilibj.interfaces.Accelerometer.Range range) Creates an ADXSensor on port, and sets the Accelerometer's range to range.

Method Summary

Modifier and Type	Method and Description
double	getAcceleration(edu.wpi.first.wpilibj.ADXL362.Axes axis) Gets the acceleration of a certain Axis of the Accelerometer.
edu.wpi.first.wpilibj.ADXL362.AllAxes	getAccelerations() Gets the accelerations of all the Axises.
double	getAngle() Gets the current angle of the Gyroscope.
double	getForPID() Gets the value being used for PID.
double	getGyroRate() Gets the rate of the Gyroscope.
double	getX() Gets the X axis of the Accelerometer.
double	getY() Gets the Y axis of the Accelerometer.
double	getZ() Gets the Z axis of the Accelerometer.
void	reset() Resets this PIDSource.
void	setAccelerometerRange(edu.wpi.first.wpilibj.interfaces.Accelerometer.Range range) Sets the range of accelerometer.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ADXSensor

public ADXSensor(edu.wpi.first.wpilibj.SPI.Port aPort,
                 edu.wpi.first.wpilibj.SPI.Port gPort)

Creates an ADXSensor on port.

Parameters:

aPort - The SPI.Port the accelerometer is on.

gPort - The SPI.Port the gyroscope is on.

ADXSensor

public ADXSensor(edu.wpi.first.wpilibj.SPI.Port aPort,
                 edu.wpi.first.wpilibj.SPI.Port gPort,
                 edu.wpi.first.wpilibj.interfaces.Accelerometer.Range range)

Creates an ADXSensor on port, and sets the Accelerometer's range to range.

Parameters:

aPort - The SPI.Port the accelerometer is on.

gPort - The SPI.Port the gyroscope is on.

ADXSensor

public ADXSensor(edu.wpi.first.wpilibj.ADXL362 a,
                 edu.wpi.first.wpilibj.ADXRS450_Gyro g)

Creates an ADXSensor that uses existing instances of the Accelerometer and Gyroscope.

Parameters:

a - The Accelerometer.

g - The Gyroscope.

Method Detail

getAngle

public double getAngle()

Gets the current angle of the Gyroscope.

Returns:

The current angle of the Gyroscope.

getGyroRate

public double getGyroRate()

Gets the rate of the Gyroscope.

Returns:

The rate of the Gyroscope.

getAcceleration

public double getAcceleration(edu.wpi.first.wpilibj.ADXL362.Axes axis)

Gets the acceleration of a certain Axis of the Accelerometer.

Parameters:

axis - The axis who's acceleration you're getting.

Returns:

The acceleration of a certain Axis of the Accelerometer.

getAccelerations

public edu.wpi.first.wpilibj.ADXL362.AllAxes getAccelerations()

Gets the accelerations of all the Axises.

Returns:

The accelerations of all the Axises.

getX

public double getX()

Gets the X axis of the Accelerometer.

Returns:

The X axis of the Accelerometer.

getY

public double getY()

Gets the Y axis of the Accelerometer.

Returns:

The Y axis of the Accelerometer.

getZ

public double getZ()

Gets the Z axis of the Accelerometer.

Returns:

The Z axis of the Accelerometer.

setAccelerometerRange

public void setAccelerometerRange(edu.wpi.first.wpilibj.interfaces.Accelerometer.Range range)

Sets the range of accelerometer.

Parameters:

range - The new range of the Accelerometer.

getForPID

public double getForPID()

Description copied from interface: PIDSource

Gets the value being used for PID.

Specified by:

getForPID in interface PIDSource

Returns:

The value being used for PID.

reset

public void reset()

Description copied from interface: PIDSource

Resets this PIDSource.

Specified by:

reset in interface PIDSource